Abstract
Although motor primitives (MPs) have been studied extensively, much less attention has been devoted to studying their generalization to new situations. To cope with varying conditions, a MP’s policy encoding must support generalization over task parameters to avoid learning separate primitives for each condition. Local and linear parameterized models have been proposed to interpolate over task parameters to provide limited generalization. In this paper, we present a global parametric motion primitive (GPDMP) which allows generalization beyond local or linear models. Primitives are modelled using a linear basis function model with global non-linear basis functions. The model is constructed from initial non-parametric primitives found using a single human demonstration and subsequent episodes of reinforcement learning to adapt the demonstrated skill to other task parameters. The initial models are then used to optimize the parameters of the global parametric model. Experiments with a ball-in-a-cup task with varying string lengths show that GPDMP allows greatly improved extrapolation compared to earlier local or linear models.
Original language | English |
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Title of host publication | Towards Autonomous Robotic Systems - 18th Annual Conference, TAROS 2017, Proceedings |
Pages | 16-31 |
Number of pages | 16 |
Volume | 10454 LNAI |
ISBN (Electronic) | 978-3-319-64107-2 |
DOIs | |
Publication status | Published - 2017 |
MoE publication type | A4 Article in a conference publication |
Event | Towards Autonomous Robotic Systems Conference - Guildford, United Kingdom Duration: 19 Jul 2017 → 21 Jul 2017 Conference number: 18 |
Publication series
Name | Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) |
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Volume | 10454 LNAI |
ISSN (Print) | 03029743 |
ISSN (Electronic) | 16113349 |
Conference
Conference | Towards Autonomous Robotic Systems Conference |
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Abbreviated title | TAROS |
Country/Territory | United Kingdom |
City | Guildford |
Period | 19/07/2017 → 21/07/2017 |
Keywords
- learning from demonstration
- generalization
- global parametric model
- ball-in-a-cup